CN103318287A - Lizard simulated amphibious robot - Google Patents
Lizard simulated amphibious robot Download PDFInfo
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- CN103318287A CN103318287A CN2013101776886A CN201310177688A CN103318287A CN 103318287 A CN103318287 A CN 103318287A CN 2013101776886 A CN2013101776886 A CN 2013101776886A CN 201310177688 A CN201310177688 A CN 201310177688A CN 103318287 A CN103318287 A CN 103318287A
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Abstract
The invention discloses a lizard simulated amphibious robot, and belongs to the field of bionics. The amphibious robot comprises a body part formed by an external frame, an internal frame and a driving mechanism and legs formed by four sets of crank and rocker mechanisms, wherein a driving motor is mounted inside the internal frame; the internal frame is positioned inside the external frame; the driving motor in the drive mechanism transmits power to transmission shafts positioned at the front part and the rear part of the internal frame through two sets of reduction devices to enable the transmission shafts to drive the crank and rocker mechanisms mounted at the two ends of each transmission shaft to move; a baseboard is mounted at the lower part of each crank and rocker mechanism. According to the invention, during the movement, the lizard simulated amphibious robot can perform three key actions, namely slapping, hitting and recovering while walking on the water; the lizard simulated amphibious robot has the advantages that the simulation of the movement of basilisk lizards is realized, the applicability for amphibiousness can be improved, besides the movement resistance is small, the moving efficiency is high, the carrying capacity is strong, the application range is wide, and the lizard simulated amphibious robot can be used for land and water rescue and monitoring.
Description
Technical field
The present invention relates to the bionics field, specifically, is a kind of research technique based on the bionics system, and the basilisk lizard is carried out intelligence, function, behavior decomposition analysis, learns its motion principle of running waterborne, and then the bionical lizard amphibious robot of design.
Background technology
Bio-robot is the robot system of the aspects such as exquisite structure, motion principle and behavior of biology in natural imitation circle, has high degree of flexibility, flexibility and transreplication.
Present numerous water surface walking bionic robot all is based on the water surface tension principle and designs, and bionical object is generally some insects with a slim and graceful figure, such as water skipper, and spider waterborne etc.The load-carrying capacity of this kind bio-robot is limited, has limited the application of water surface bio-robot.Simultaneously, high for the external working environment requirement based on the water surface bio-robot of water surface tension principle design, water surface tension is easily destroyed, and comformability is low.
Along with bionic development, the basilisk lizard has caused scientific research personnel's concern.Basilisk lizard body weight is from 2 grams---and 200 grams do not wait all and can run at the water surface, but do not utilize the surface tension of the water surface to keep certainly in floating on water.Its key is that it can be with suitable angle and enough wobbulation both legs, makes on its health very, to preshoot.Specifically, each action of running on the water of basilisk lizard can be decomposed into three parts: bounce, swat, reduce.Bounce in the process, pin mainly is perpendicular movement; Swat in the process, pin is backward motion mainly; In the reduction process, pin lifts and leaves the water surface, gets back to next step the action that begins.The pin of basilisk lizard bounces the water surface downwards, forces the water surface to sink or flows away from the underfooting, forms an air cushion simultaneously around pin, and this action has produced a bearing force, is enough to when the sole of lizard is swatted backward body-support with lizard on the water surface.When swatting backward, pin produces the thrust of advancing.The speed that the basilisk lizard is run at the water surface can reach 1.5 meters of per seconds.Research discovery, basilisk lizard can produce very large transverse force and keep the stable of health when the water surface is run.Therefore, the basilisk lizard can effectively be overcome the drawback of present water surface walking robot as bionical object.
But not pertinent literature does not record and this basilisk lizard is carried out bionical overwater walking robot at present.
Summary of the invention
The present invention is in order to address the above problem, based on the basilisk lizard motion principle of running waterborne, design a kind ofly amphibiously freely change, the little efficient of resistance is high, load-carrying capacity is strong, applied widely bionical lizard amphibious robot, comprise by external frame the body section that inner frame, driver train consist of and the shank that is consisted of by the quadruplet quadric linkage.
Wherein, the rectangular frame of external frame for being consisted of by right baffle-plate, right baffle plate, front apron and back shield; Inner frame is positioned at external frame, for consisting of framed structure by left side plate and front and back side plate.
Described driver train comprises drive motor and two cover speed reduction gearings; Drive motor is installed in the inner frame; Drive motor has two output shafts, respectively towards the place ahead and the rear of inner frame.
Two cover speed reduction gearings include transmission shaft A, transmission shaft B and circumferentially have the gear cluster that the gear D of the gear teeth consists of by gear A, gear B, gear C and side, are installed on respectively inner frame the place ahead and rear, and mounting means is identical; Wherein, transmission shaft A is coupling between the left side board and right side board of inner frame; Transmission shaft B is coupling between the right baffle-plate and right baffle plate of framework externally; The output shaft of gear A and drive motor is fixedly sleeved; Gear B is fixedly sleeved on transmission shaft B; Gear C is coaxial fixedly sleeved on transmission shaft A with gear D; Gear A and gear D engagement, gear C and gear B engagement;
Described quadruplet quadric linkage structure is identical, comprises that rocking bar, connecting rod, crank and sole consist of; Wherein, hinged between the pin jointed end of the pin jointed end of rocking bar and connecting rod; The installation end of connecting rod is installed with sole; The pin jointed end of crank and connecting rod middle part are hinged; Installation end and the installation end of crank left front, right front, left back and the right abaft that external frame respectively be installed of the quadruplet piston crank mechanism of said structure by rocking bar; Be specially:
The installation end that is arranged in left front and right front quadric linkage rocking bar is respectively with to be fixed on external frame left surface and right flank hinged by articulation piece A, articulation piece B; The installation end of crank is connected with the two ends, the left and right sides of the speed reduction gearing transmission shaft B that is arranged in inner frame the place ahead respectively.
The installation end that is arranged in left back and right abaft quadric linkage rocking bar is hinged by articulation piece C and articulation piece D with external frame left surface and right flank respectively; The installation end of crank is connected with the two ends, the left and right sides of the speed reduction gearing transmission shaft B that is arranged in the inner frame rear respectively.
Consist of thus lizard amphibious robot integral structure, start working by the control drive motor, behind two sleeve gear speed reduction gearings, drive the quadruplet quadric linkage, realize the shank periodic motion of bio-robot, motion frequency is 5HZ.In each periodic process, the quadruplet quadric linkage of lizard amphibious robot is finished and is bounced, swats, recovers three key operations, produces bearing force and thrust forward.
The invention has the advantages that:
1, four shanks of the bionical lizard amphibious robot of the present invention adopt quadric linkages, can realize bouncing in the walking process, swat, reducing three key operations;
2, the power of the bionical lizard amphibious robot of the present invention is transferred to four shanks by drive motor and gear reducer, overcomes resistance in the motion guaranteeing can to produce when motion frequency is 5HZ enough moments of torsion;
3, the bionical lizard amphibious robot of the present invention adopts quadruped structure, improve amphibious applicability, and the little efficient of resistance of motion is high, and the Amphibious bionics robot that load-carrying capacity is strong, applied widely can be used for land and water rescue and monitoring.
Description of drawings
Fig. 1 is the bionical lizard amphibious robot of the present invention integral structure schematic side view;
Fig. 2 is the bionical lizard amphibious robot of the present invention integral structure schematic top plan view;
Fig. 3 is schematic diagram when crank is-45 ° with horizontal plane angle in the quadric linkage of left front in the bionical lizard amphibious robot of the present invention periodic motion state;
Fig. 4 is schematic diagram when crank is-90 ° with horizontal plane angle in the quadric linkage of left front in the bionical lizard amphibious robot of the present invention periodic motion state;
Fig. 5 is schematic diagram when crank is-180 ° with horizontal plane angle in the quadric linkage of left front in the bionical lizard amphibious robot of the present invention periodic motion state;
Fig. 6 is schematic diagram when crank is-225 ° with horizontal plane angle in the quadric linkage of left front in the bionical lizard amphibious robot of the present invention periodic motion state;
Fig. 7 is schematic diagram when crank is-270 ° with horizontal plane angle in the quadric linkage of left front in the bionical lizard amphibious robot of the present invention periodic motion state;
Fig. 8 is schematic diagram when crank is-315 ° with horizontal plane angle in the quadric linkage of left front in the bionical lizard amphibious robot of the present invention periodic motion state;
Fig. 9 is the bionical lizard amphibious robot of the present invention quadric linkage parameter designing schematic diagram;
Figure 10 is lizard amphibious robot of the present invention when being in the optimal movement state, angle α scope schematic diagram between the rocking bar of quadruplet quadric linkage and connecting rod.
Among the figure:
1-external frame 2-inner frame 3-driver train 4-quadric linkage
301-drive motor 302-speed reduction gearing 302a-transmission shaft A 302b-transmission shaft B
302c-gear A 302d-gear B 302e-gear C 302f-gear D
401-rocking bar 402-connecting rod 403-crank 404-sole
The specific embodiment
The present invention will be further described below in conjunction with accompanying drawing.
The bionical lizard amphibious robot of the present invention comprises by external frame 1, the body section that inner frame 2, driver train 3 consist of and the shank that is consisted of by quadruplet quadric linkage 4, as shown in Figure 1 and Figure 2.
Wherein, the rectangular frame of external frame 1 for being consisted of by right baffle-plate, right baffle plate, front apron and back shield; Inner frame 2 is positioned at external frame 1, is the groined type framed structure that is made of left side plate and front and back side plate; Inner frame 2 is used for installing driver train 3.External frame 1 left baffle and front and rear baffle, and the thickness of the left side plate of inner frame 2 and front and back side plate is 2mm.
Described driver train 3 comprises drive motor 301, two cover speed reduction gearings 302;
It is inner that drive motor 301 is arranged at the motor seal cabin, and the motor seal cabin is fixedly installed in inner frame 2 middle parts (be in the inner frame 2 before and after between side plate and the left side plate position); Drive motor 301 has two output shafts, and the output shaft of drive motor 301 is respectively towards the place ahead and the rear of inner frame 2, and passes respectively front side plate and rear quarter panel.Drive motor 301 rated voltages are 3V, and rated speed of rotation is 17200-21200rpm, adopt lithium cell as power supply.
Make two cover speed reduction gearings 302 be respectively front reduction gear device and rear speed reduction gearing, circumferentially have the gear cluster that the gear D 302f of the gear teeth consists of by transmission shaft A302a, transmission shaft B302b and by gear A 302c, gear B 302d, gear C 302e and side; Two cover speed reduction gearings 302 are installed on respectively external frame 1 front and rear part in an identical manner.
Wherein, in the front reduction gear device 302: transmission shaft A302a bearing is connected between the left side board and right side board of inner frame 2, is positioned at front side plate the place ahead; Transmission shaft B302b bearing is connected between the right baffle-plate and right baffle plate of external frame 1, is positioned at external frame 1 front portion; Transmission shaft B302b is parallel with transmission shaft A302a, and the axis of transmission shaft B302b and transmission shaft A302a is positioned on the same level.Gear cluster adopts straight gear-double-layer gear-Spur Gear Driving form, and gear A 302c is the one-level straight gear, and is coaxial fixedly sleeved towards the output shaft in inner frame 2 the place aheads with drive motor 301; Gear B 302d is three grades of straight gears, and is coaxial fixedly sleeved on transmission shaft B302b; Gear C 302e and gear D 302f are coaxial fixedly sleeved on transmission shaft A302a, form the secondary double-layer gear; Wherein, gear A 302c and gear D 302f engagement, gear C 302e and gear B 302d engagement make and form interlock between gear A 302c, gear B 302d, gear C 302e and gear D 302f, finally can drive transmission shaft B302b by drive motor 301 and rotate.
In the rear speed reduction gearing 302: transmission shaft A302a bearing is connected between the left side board and right side board of inner frame 2, is positioned at the rear quarter panel rear; Transmission shaft B302b is coupling between the right baffle-plate and right baffle plate of framework 1 externally, is positioned at external frame 1 rear portion; In the above-mentioned front reduction gear device in transmission shaft A302a, transmission shaft B302b and the rear speed reduction gearing axis of transmission shaft A302a, transmission shaft B302b be parallel to each other, all be on the same level, and the axis spacing of transmission shaft A302a, transmission shaft B302b equals the axis spacing of transmission shaft A302a and transmission shaft B302b in the rear speed reduction gearing in the front reduction gear device.Gear A 302c is coaxial fixedly sleeved towards the output shaft at inner frame 2 rears with drive motor 301; Gear B 302d is coaxial fixedly sleeved on transmission shaft B302b; Gear C 302e and gear D 302f are coaxial fixedly sleeved on transmission shaft A302a; Wherein, gear A 302c and gear D 302f engagement, gear C 302e and gear B 302d engagement make and form interlock between gear A 302c, gear B 302d, gear C 302e and gear D 302f, finally can drive transmission shaft B302b by drive motor 301 and rotate.
The diameter of above-mentioned transmission shaft A302a and transmission shaft B302b is 2mm, and transmission shaft A302a length is 24mm, and transmission shaft B302b length is 65mm, and material all adopts steel No. 45.
The modulus of the one-level straight gear (gear A 302c) in front reduction gear device and the rear speed reduction gearing is 0.5, and the number of teeth is 8; Secondary double-layer gear (gear C 302e and gear D 302f) modulus is 0.5, and the gear C 302e number of teeth is 22, and the gear D 302f number of teeth is that 30, three grades of straight gears (gear B 302d) modulus is 0.5, and the number of teeth is 24.
Described quadruplet quadric linkage 4 structures are identical, comprise that rocking bar 401, connecting rod 402, crank 403 consist of with sole 404, and above-mentioned rocking bar 401, connecting rod 402 all adopt carbon fiber pipe with crank 403, and internal diameter is 2mm, and external diameter is 3mm.Wherein, hinged between the pin jointed end of the pin jointed end of rocking bar 401 and connecting rod 402; The installation end of connecting rod 402 is installed with sole 404; The pin jointed end of crank 403 and connecting rod 402 middle parts are hinged; Installation end and the installation end of crank 403 left front, right front, left back and the right abaft that respectively are installed on body section of the quadruplet piston crank mechanism of said structure by rocking bar 401; Be specially:
Be arranged in the quadric linkage 4 of left front, the anterior articulation piece A that installs is hinged for the installation end of rocking bar 401 and external frame 1 left surface; The transmission shaft B302b left end of the installation end of crank 403 and front reduction gear device is connected.
Be arranged in the quadric linkage 4 of right front, B is hinged for the anterior installation of the installation end of rocking bar 401 and external frame 1 right flank articulation piece; The transmission shaft B302b right-hand member of the installation end of crank 403 and front reduction gear device is connected; And the axis of articulation piece A and articulation piece B all with external frame 1 lateral vertical and coaxial.
Be arranged in the quadric linkage 4 of left back, the articulation piece C that install at the installation end of rocking bar 401 and external frame 1 left surface rear portion is hinged; The transmission shaft B302b left end of the installation end of crank 403 and rear speed reduction gearing is connected.
Be arranged in the quadric linkage 4 of right abaft, the articulation piece D that install at the installation end of rocking bar 401 and external frame 1 right flank rear portion is hinged; The transmission shaft B302b right-hand member of the installation end of crank 403 and rear speed reduction gearing is connected.And the axis of articulation piece C and articulation piece D all with external frame 1 lateral vertical and coaxial.
In the above-mentioned front reduction gear device in the jointed shaft axis spacing of transmission shaft B302b and articulation piece A and the rear speed reduction gearing transmission shaft B302b equate with the jointed shaft axis spacing of articulation piece C.
Consist of thus lizard amphibious robot integral structure, wherein, when initial condition, as shown in Figure 1, be positioned at the left front identical with quadric linkage 4 status of right abaft, be in the state that recovers-bounce, with the quadric linkage that is positioned at the left front its state is described: this moment, sole 404 was parallel with horizontal surface, and the hinged place of the hinged place of rocking bar 401 and articulation piece A, connecting rod 402 and crank 403, and the junction of transmission shaft B302b is positioned on the same level in crank 403 and the front reduction gear device 302.And the quadric linkage 4 that is positioned at the right front is identical with quadric linkage 4 status that are positioned at the left back, all and be positioned at 4 phase differences with 180 ° of quadric linkage of left front, right abaft, is in the state that bounces-swat this moment.After this control drive motor 301 and start working, behind two cover speed reduction gearings 302, drive quadruplet quadric linkage 4, realize the shank periodic motion of lizard amphibious robot, motion frequency is 5HZ, shown in Fig. 3～9, is the state of kinematic motion of lizard amphibious robot in the one-period.In each periodic process, three key operations are finished and bounce, swat, recovered to the shank of lizard amphibious robot, produces bearing force and thrust forward; And in an orbit period, angle α satisfies between the rocking bar of quadruplet quadric linkage and connecting rod: 41.5 °≤α≤93 °, can make lizard amphibious robot of the present invention be in the optimal movement state, as shown in figure 10.
Each several part of the present invention all adopts Low Density Polyethylene membrane waterproofing and acrylic resin paint to realize the waterproof of bionical lizard; And be connected between left baffle in side plate and the external frame 1 before and after in the inner frame 2 among the present invention, reinforcement unitarity body section structure is connected further reinforcement unitarity body section structure between inner frame 2 and external frame 1 bottom surface simultaneously by reinforced plate.
Claims (8)
1. bionical lizard amphibious robot is characterized in that: comprise by external frame the body section that inner frame, driver train consist of and the shank that is made of the quadruplet quadric linkage;
Wherein, the rectangular frame of external frame for being consisted of by right baffle-plate, right baffle plate, front apron and back shield; Inner frame is positioned at external frame, for consisting of framed structure by left side plate and front and back side plate;
Described driver train comprises drive motor and two cover speed reduction gearings; Drive motor is installed in the inner frame; Drive motor has two output shafts, respectively towards the place ahead and the rear of inner frame;
Two cover speed reduction gearings include transmission shaft A, transmission shaft B and circumferentially have the gear cluster that the gear D of the gear teeth consists of by gear A, gear B, gear C and side, are installed on respectively inner frame the place ahead and rear, and mounting means is identical; Wherein, transmission shaft A is coupling between the left side board and right side board of inner frame; Transmission shaft B is coupling between the right baffle-plate and right baffle plate of framework externally;
The output shaft of gear A and drive motor is fixedly sleeved; Gear B is fixedly sleeved on transmission shaft B; Gear C is coaxial fixedly sleeved on transmission shaft A with gear D; Gear A and gear D engagement, gear C and gear B engagement;
Described quadruplet quadric linkage structure is identical, comprises that rocking bar, connecting rod, crank and sole consist of; Wherein, hinged between the pin jointed end of the pin jointed end of rocking bar and connecting rod; The installation end of connecting rod is installed with sole; The pin jointed end of crank and connecting rod middle part are hinged; Installation end and the installation end of crank left front, right front, left back and the right abaft that external frame respectively be installed of the quadruplet piston crank mechanism of said structure by rocking bar; Be specially:
The installation end that is arranged in left front and right front quadric linkage rocking bar is respectively with to be fixed on external frame left surface and right flank hinged by articulation piece A, articulation piece B; The installation end of crank is connected with the two ends, the left and right sides of the speed reduction gearing transmission shaft B that is arranged in inner frame the place ahead respectively;
The installation end that is arranged in left back and right abaft quadric linkage rocking bar is hinged by articulation piece C and articulation piece D with external frame left surface and right flank respectively; The installation end of crank is connected with the two ends, the left and right sides of the speed reduction gearing transmission shaft B that is arranged in the inner frame rear respectively.
2. bionical lizard amphibious robot as claimed in claim 1, it is characterized in that: it is inner that described drive motor is arranged at the motor seal cabin.
3. bionical lizard amphibious robot as claimed in claim 1, it is characterized in that: the transmission shaft A in the described two cover speed reduction gearings are parallel mutually with transmission shaft B, are positioned on the same level; And be arranged in the speed reduction gearing transmission shaft A in inner frame the place ahead, the axis spacing of transmission shaft B, equate with the axis spacing of transmission shaft B with the speed reduction gearing transmission shaft A that is arranged in the inner frame rear.
4. bionical lizard amphibious robot as claimed in claim 1, it is characterized in that: described articulation piece A is vertical and coaxial with the external frame sidewall with the jointed shaft axis of articulation piece B; Jointed shaft C is vertical and coaxial with the external frame sidewall with the jointed shaft axis of jointed shaft D.
5. bionical lizard amphibious robot as claimed in claim 1, it is characterized in that: the described speed reduction gearing transmission shaft B in inner frame the place ahead and the jointed shaft axis spacing of articulation piece A of being arranged in equals to be arranged in the speed reduction gearing transmission shaft B at inner frame rear and the jointed shaft axis spacing of articulation piece C.
6. bionical lizard amphibious robot as claimed in claim 1 is characterized in that: be connected between left baffle in side plate and the external frame before and after in the described inner frame, be connected by reinforced plate between while inner frame and external frame bottom surface.
7. bionical lizard amphibious robot as claimed in claim 1, it is characterized in that: the described left front that is positioned at is identical with the quadric linkage status of right abaft, at this moment, sole is parallel with horizontal surface in the quadric linkage of left front, and the hinged place of the hinged place of rocking bar and articulation piece A, connecting rod and crank, and the junction of crank and transmission shaft B is positioned on the same level; And it is identical with the quadric linkage status of left back to be positioned at the right front, all and be positioned at the phase difference that has 180 ° between the quadric linkage of left front, right abaft.
8. bionical lizard amphibious robot as claimed in claim 1, it is characterized in that: described four piston crank mechanisms are in an orbit period, and angle α satisfies between rocking bar and connecting rod: 41.5 °≤α≤93 °.
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| CN201310177688.6A CN103318287B (en) | 2013-05-14 | 2013-05-14 | Bionical lizard amphibious robot |
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| CN201310177688.6A CN103318287B (en) | 2013-05-14 | 2013-05-14 | Bionical lizard amphibious robot |
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| CN104669961B (en) * | 2013-11-30 | 2016-09-14 | 中国科学院沈阳自动化研究所 | A kind of bionical amphibious robot taking turns foot-tail fin combination drive |
| WO2017157166A1 (en) * | 2016-03-16 | 2017-09-21 | 梁澍 | Automatic cleaning device for factory floor |
| CN107825412A (en) * | 2017-10-12 | 2018-03-23 | 广西大学 | A kind of more structure state bionic machine robot mechanisms |
| CN109334797A (en) * | 2018-09-13 | 2019-02-15 | 南京航空航天大学 | Dry adhesion four-footed in conjunction with hook is dwelt robot and its bionic movement method more |
| CN110341405A (en) * | 2019-07-09 | 2019-10-18 | 西安理工大学 | A kind of imitative amphibious walking robot of basilisk lizard |
| CN110450586A (en) * | 2019-07-09 | 2019-11-15 | 西安理工大学 | A kind of bionical shoe foot formula amphibious vehicle |
| CN112176935A (en) * | 2020-09-23 | 2021-01-05 | 王涛 | Pavement ice breaking device |
| CN112265420A (en) * | 2020-11-15 | 2021-01-26 | 浙江工业大学 | Amphibious robot |
| CN114055489A (en) * | 2021-11-16 | 2022-02-18 | 三明学院 | Centipede-imitating robot |
| CN115649319A (en) * | 2022-11-21 | 2023-01-31 | 成都理工大学 | Bionic mechanical ant search and rescue robot |
| CN115871384A (en) * | 2023-02-21 | 2023-03-31 | 天津大学 | Multi-mode cross-amphibious motion bionic amphibious robot |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104669961B (en) * | 2013-11-30 | 2016-09-14 | 中国科学院沈阳自动化研究所 | A kind of bionical amphibious robot taking turns foot-tail fin combination drive |
| WO2017157166A1 (en) * | 2016-03-16 | 2017-09-21 | 梁澍 | Automatic cleaning device for factory floor |
| CN107825412A (en) * | 2017-10-12 | 2018-03-23 | 广西大学 | A kind of more structure state bionic machine robot mechanisms |
| CN109334797A (en) * | 2018-09-13 | 2019-02-15 | 南京航空航天大学 | Dry adhesion four-footed in conjunction with hook is dwelt robot and its bionic movement method more |
| CN110450586B (en) * | 2019-07-09 | 2022-03-04 | 西安理工大学 | Bionic pedrail type amphibious vehicle |
| CN110450586A (en) * | 2019-07-09 | 2019-11-15 | 西安理工大学 | A kind of bionical shoe foot formula amphibious vehicle |
| CN110341405A (en) * | 2019-07-09 | 2019-10-18 | 西安理工大学 | A kind of imitative amphibious walking robot of basilisk lizard |
| CN112176935A (en) * | 2020-09-23 | 2021-01-05 | 王涛 | Pavement ice breaking device |
| CN112265420A (en) * | 2020-11-15 | 2021-01-26 | 浙江工业大学 | Amphibious robot |
| CN112265420B (en) * | 2020-11-15 | 2024-02-23 | 浙江工业大学 | Amphibious robot |
| CN114055489A (en) * | 2021-11-16 | 2022-02-18 | 三明学院 | Centipede-imitating robot |
| CN115649319A (en) * | 2022-11-21 | 2023-01-31 | 成都理工大学 | Bionic mechanical ant search and rescue robot |
| CN115871384A (en) * | 2023-02-21 | 2023-03-31 | 天津大学 | Multi-mode cross-amphibious motion bionic amphibious robot |
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